This paper presents an online, real-time, multiobject tracking algorithm based on a novel method for data association. Tracking multiple objects in real-world scenes includes several challenges, such as a) object detectors with low detection accuracy, b) false alarms, and c) unmatched tracked objects. In this paper, we propose a novel filtering method based on the theory of censored data by utilizing an Adaptive Tobit Kalman filter to estimate the object's position with high accuracy. Furthermore, in order to deal with false alarms and unmatched tracked objects, we use the nonmaximum suppression and a modified Hungarian algorithm, respectively. Experiments in public datasets show that the proposed method outperforms state of the art methods in multi-object tracking with a substantial low computational cost compared to other methods in the area.